On Fri, Dec 3, 2010 at 8:40 PM, Chris Brown <span dir="ltr">&lt;<a href="mailto:chrisneilbrown@gmail.com">chrisneilbrown@gmail.com</a>&gt;</span> wrote:<br><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<div>Eric,</div><div><br></div><div>I&#39;m republishing because I want process the data into a point cloud data, which I have no idea how to do, where should I start?</div><div>I dont have a kinect to play with. To fix it I had to make this change</div>

<div><br></div>-pub.publish(Image(msg))<div>+pub.publish(msg)</div><div><br></div><div>works now</div></blockquote><div><br></div><div>What I was getting at was that you don&#39;t have to do the republishing of the depth image from the bag file yourself - rosbag play already does it for you. Doesn&#39;t the kinect driver already output a point cloud? Seems to according to <a href="http://www.ros.org/wiki/kinect_camera">http://www.ros.org/wiki/kinect_camera</a> . You may want to see about finding a different bag file that includes that information.</div>
<div><br></div><div>- Eric</div><meta http-equiv="content-type" content="text/html; charset=utf-8"><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><div><br>
</div><div><div><div></div><div class="h5"><br><div class="gmail_quote">On Sat, Dec 4, 2010 at 12:20 PM, Eric Perko <span dir="ltr">&lt;<a href="mailto:wisesage5001@gmail.com" target="_blank">wisesage5001@gmail.com</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Chris,<div><br></div><div>To just playback a bagfile to a rosnode such as image_view, there is no need to write a script that uses the rosbag API. Take a look at this tutorial: <a href="http://www.ros.org/wiki/rosbag/Tutorials/Recording%20and%20playing%20back%20data" target="_blank">http://www.ros.org/wiki/rosbag/Tutorials/Recording%20and%20playing%20back%20data</a></div>


<div><br></div><div><a href="http://www.ros.org/wiki/rosbag/Tutorials/Recording%20and%20playing%20back%20data" target="_blank"></a>For your specific case, you would want to use the following two commands (or something very close to them) after starting a roscore:</div>


<div><br></div><div>1. rosbag play <span style="border-collapse:collapse;font-family:arial, sans-serif;font-size:13px">/home/chris/bagfiles/kinectDepthVideo.bag</span></div>
<div><font face="arial, sans-serif"><span style="border-collapse:collapse">2. rosrun image_view image_view image:=/kinect/depth/image_raw</span></font></div><div><font face="arial, sans-serif"><span style="border-collapse:collapse"><br>


</span></font></div><div><font face="arial, sans-serif"><span style="border-collapse:collapse">That should be about all you need to do, no need to read from the bagfile using Python and then republish messages yourself.</span></font></div>


<div><font face="arial, sans-serif"><span style="border-collapse:collapse"><br></span></font></div><div><font face="arial, sans-serif"><span style="border-collapse:collapse">- Eric<br>
</span></font><br><div class="gmail_quote"><div><div></div><div>On Fri, Dec 3, 2010 at 7:00 PM, Chris Brown <span dir="ltr">&lt;<a href="mailto:chrisneilbrown@gmail.com" target="_blank">chrisneilbrown@gmail.com</a>&gt;</span> wrote:<br>

</div></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div><div></div><div>
I get this error<div><br></div><div><div><div>  File &quot;/home/chris/ros/ros/core/roslib/src/roslib/message.py&quot;, line 301, in __init__</div><div>    raise TypeError, &quot;Invalid number of arguments, args should be %s&quot;%str(self.__slots__)+&quot; args are&quot;+str(args)</div>



<div>TypeError: Invalid number of arguments, args should be [&#39;header&#39;, &#39;height&#39;, &#39;width&#39;, &#39;encoding&#39;, &#39;is_bigendian&#39;, &#39;step&#39;, &#39;data&#39;] args are(header:</div><div>  seq: 0</div>



<div>  stamp:</div><div>    secs: 1290467094</div><div>    nsecs: 328996057</div><div>  frame_id: /kinect_depth</div><div>height: 480</div><div>width: 640</div><div>encoding: mono8</div><div>is_bigendian: 0</div><div>step: 640</div>



<div>data: ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýýÿýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýýÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿýÿùùÿÿùõýõÿÿýýÿÿÿÿÿýùùõùùùùùùùùÿÿÿÿýÿýýùùùùýÿÿÿÿÿýýùùùùùùùýýýýýùõõõõõùõùùùùõõõõõùùõõõõõõõõõõõõõõõõõõññõññññññññññññññññññõñññññññíññññññññññõõõõÿÿÿÿÿÿÿÿÿõõñññíííééééñññññññññññññíññññññññííííí</div>



</div></div><div><br></div><div><div>I&#39;m sure I&#39;m trying to publish send_msg/Image data to image_view which accepts the data</div><div></div></div><div><br></div><div><div>rosbag info ~/bagfiles/kinectDepthVideo.bag</div>



<div>path:        /home/chris/bagfiles/kinectDepthVideo.bag</div><div>version:     2.0</div><div>duration:    25.1s</div><div>start:       Nov 23 2010 10:04:54.33 (1290467094.33)</div><div>end:         Nov 23 2010 10:05:19.43 (1290467119.43)</div>



<div>size:        220.7 MB</div><div>messages:    753</div><div>compression: none [251/251 chunks]</div><div>types:       sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]</div><div>topics:      /kinect/depth/image_raw   753 msgs @ 29.8 Hz : sensor_msgs/Image</div>



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<br></blockquote></div><br><br clear="all"><br></div></div><div class="im">-- <br>Chris<br><a href="http://arp.chrisb.id.au/" target="_blank">Aluminium Replacement Parts</a><br><a href="http://twitter.com/arpartsau" target="_blank">@arpartsau</a><br>

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